/**
  ******************************************************************************
  * @file    stm32_it.c
  * @author  MCD Application Team
  * @version V4.0.0
  * @date    21-January-2013
  * @brief   Main Interrupt Service Routines.
  *          This file provides template for all exceptions handler and peripherals
  *          interrupt service routine.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; COPYRIGHT 2013 STMicroelectronics</center></h2>
  *
  * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
  * You may not use this file except in compliance with the License.
  * You may obtain a copy of the License at:
  *
  *        http://www.st.com/software_license_agreement_liberty_v2
  *
  * Unless required by applicable law or agreed to in writing, software 
  * distributed under the License is distributed on an "AS IS" BASIS, 
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "stm32f37x_it.h"
#include "main.h"

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
uint8_t Step = 0, Index = 0, CheckSum = 0;
uint8_t Buffer[17];
uint16_t CtrlData[6];
/* Private function prototypes -----------------------------------------------*/
extern void xPortSysTickHandler( void );
/* Private functions ---------------------------------------------------------*/
/******************************************************************************/
/*            Cortex-M Processor Exceptions Handlers                         */
/******************************************************************************/

/*******************************************************************************
* Function Name  : NMI_Handler
* Description    : This function handles NMI exception.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void NMI_Handler(void)
{
}

/*******************************************************************************
* Function Name  : HardFault_Handler
* Description    : This function handles Hard Fault exception.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void HardFault_Handler(void)
{
  /* Go to infinite loop when Hard Fault exception occurs */
  while (1)
  {
  }
}

/*******************************************************************************
* Function Name  : MemManage_Handler
* Description    : This function handles Memory Manage exception.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void MemManage_Handler(void)
{
  /* Go to infinite loop when Memory Manage exception occurs */
  while (1)
  {
  }
}

/*******************************************************************************
* Function Name  : BusFault_Handler
* Description    : This function handles Bus Fault exception.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void BusFault_Handler(void)
{
  /* Go to infinite loop when Bus Fault exception occurs */
  while (1)
  {
  }
}

/*******************************************************************************
* Function Name  : UsageFault_Handler
* Description    : This function handles Usage Fault exception.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void UsageFault_Handler(void)
{
  /* Go to infinite loop when Usage Fault exception occurs */
  while (1)
  {
  }
}

/*******************************************************************************
* Function Name  : SVC_Handler
* Description    : This function handles SVCall exception.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
//void SVC_Handler(void)
//{
//}

/*******************************************************************************
* Function Name  : DebugMon_Handler
* Description    : This function handles Debug Monitor exception.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void DebugMon_Handler(void)
{
}

/*******************************************************************************
* Function Name  : PendSV_Handler
* Description    : This function handles PendSVC exception.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
//void PendSV_Handler(void)
//{
//}

/*******************************************************************************
* Function Name  : SysTick_Handler
* Description    : This function handles SysTick Handler.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void SysTick_Handler(void)
{
	if(xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
	{
		xPortSysTickHandler();
	}
}

/******************************************************************************/
/*                 STM32 Peripherals Interrupt Handlers                   */
/*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */
/*  available peripheral interrupt handler's name please refer to the startup */
/*  file (startup_stm32xxx.s).                                            */
/******************************************************************************/

/*******************************************************************************
* Function Name  : PPP_IRQHandler
* Description    : This function handles PPP interrupt request.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
/*void PPP_IRQHandler(void)
{
}*/

/**
  * @brief  This function handles USART1 interrupt request.
  * @param  None
  * @retval None
  */
void USART1_IRQHandler(void)
{
	uint8_t Data;
	if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
	{
		Data = (USART1->RDR) & 0xFF;
		switch(Step)
		{
			case 0: if(Data == 0xAB) Step = 1;
			break;
			case 1: if(Data == 0xCD) Step = 2;
					else Step = 0;
			break;
			case 2: 
					Buffer[Index] = Data;
					Index ++;
					if(Index == 16)
						Step = 3;
			break;
			case 3:
					Buffer[16] = Data;
					for(Index = 0; Index < 16; Index ++)
					{
						CheckSum += Buffer[Index];
					}
					if((CheckSum == Buffer[16]) && (InitStatus == SET))
					{
						CtrlData[0] = ((uint16_t)Buffer[0] << 8) | Buffer[1];
						CtrlData[1] = ((uint16_t)Buffer[2] << 8) | Buffer[3];
						CtrlData[2] = ((uint16_t)Buffer[4] << 8) | Buffer[5];
						CtrlData[3] = ((uint16_t)Buffer[6] << 8) | Buffer[7];
						CtrlData[4] = ((uint16_t)Buffer[8] << 8) | Buffer[9];
						CtrlData[5] = ((uint16_t)Buffer[10] << 8) | Buffer[11];

						Throttle = Curve_Ctrl(CtrlData[0] - 172);
						ExpAngle.Roll = (CtrlData[1] - 512) * 0.08f + (Buffer[13] - 21) * 0.4f;//defalut 0x15 = 21
						ExpAngle.Pitch = -(CtrlData[2] - 512) * 0.08f - (Buffer[14] - 21) * 0.4f;//default 0x15 = 21
						ExpAngle.Yaw = (CtrlData[3] - 512) * 0.8f + (Buffer[15] - 21) * 0.1f;//default 0x15 = 21
						BLE_LED_Toggle();
					}
					Index = 0;
					CheckSum = 0;
					Step = 0;
			break;
			default :
				Step = 0;
			break;
		}
	}
}

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
